Pushing using Compliance

This paper addresses the problem of maneuvering an object by pushing it through an environment with obstacles. Instead of only pushing the object through open spaces, we also allow it to use compliance, e. g. allowing it to slide along obstacle boundaries. The advantage of using compliance is twofold: compliance does not only extend the number of situations in which a push plan can be found, it also allows for simpler (i. e. less complicated) paths in many cases. Here, we present an approach based on the rapidly-exploring random tree (RRT) algorithm that, besides paths through the open space, exploits the power of compliance

Authors

• Dennis Nieuwenhuisen
• A. Frank van der Stappen
• Mark H. Overmars

Keywords

• Industrial training
• Navigation
• Production facilities
• Application software
• Friction
• Uncertainty
• Open Space
• Rapidly-exploring Random Tree
• Straight Line
• Urban Planning
• Counterclockwise
• Reachable
• Line Segment
• Start Position
• Exploratory Outcomes
• Part Of Space
• Straight Path
• Clockwise And Counterclockwise
• Complete Algorithm
• Random Configuration
• Circular Arc
• Final Path
• Exploration Algorithm
• Environmental Boundaries
• Geometric Primitives
• Straight-line Path
• Hockey Stick
• Minkowski Sum
• Planning Algorithm
• Collision Detection
• Straightforward Solution